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    "## Advanced Lane Finding Project\n",
    "\n",
    "The goals / steps of this project are the following:\n",
    "\n",
    "* Compute the camera calibration matrix and distortion coefficients given a set of chessboard images.\n",
    "* Apply a distortion correction to raw images.\n",
    "* Use color transforms, gradients, etc., to create a thresholded binary image.\n",
    "* Apply a perspective transform to rectify binary image (\"birds-eye view\").\n",
    "* Detect lane pixels and fit to find the lane boundary.\n",
    "* Determine the curvature of the lane and vehicle position with respect to center.\n",
    "* Warp the detected lane boundaries back onto the original image.\n",
    "* Output visual display of the lane boundaries and numerical estimation of lane curvature and vehicle position.\n",
    "\n",
    "---\n",
    "## First, I'll compute the camera calibration using chessboard images"
   ]
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    "import numpy as np\n",
    "import cv2\n",
    "import glob\n",
    "import matplotlib.pyplot as plt\n",
    "%matplotlib qt\n",
    "\n",
    "# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)\n",
    "objp = np.zeros((6*9,3), np.float32)\n",
    "objp[:,:2] = np.mgrid[0:9,0:6].T.reshape(-1,2)\n",
    "\n",
    "# Arrays to store object points and image points from all the images.\n",
    "objpoints = [] # 3d points in real world space\n",
    "imgpoints = [] # 2d points in image plane.\n",
    "\n",
    "# Make a list of calibration images\n",
    "images = glob.glob('../camera_cal/calibration*.jpg')\n",
    "\n",
    "# Step through the list and search for chessboard corners\n",
    "for fname in images:\n",
    "    img = cv2.imread(fname)\n",
    "    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)\n",
    "\n",
    "    # Find the chessboard corners\n",
    "    ret, corners = cv2.findChessboardCorners(gray, (9,6),None)\n",
    "\n",
    "    # If found, add object points, image points\n",
    "    if ret == True:\n",
    "        objpoints.append(objp)\n",
    "        imgpoints.append(corners)\n",
    "\n",
    "        # Draw and display the corners\n",
    "        img = cv2.drawChessboardCorners(img, (9,6), corners, ret)\n",
    "        cv2.imshow('img',img)\n",
    "        cv2.waitKey(500)\n",
    "\n",
    "cv2.destroyAllWindows()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## And so on and so forth..."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
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